DeformNet: Free-Form Deformation Network for 3D Shape Reconstruction from a Single Image

3D reconstruction from a single image is a key problem in multiple applications ranging from robotic manipulation to augmented reality. Prior methods have tackled this problem through generative models which predict 3D reconstructions as voxels or point clouds. However, these methods can be computationally expensive and miss fine details. We introduce a new differentiable layer for 3D data deformation and use it in DeformNet to learn a model for 3D reconstruction-through-deformation. DeformNet takes an image input, searches the nearest shape template from a database, and deforms the template to match the query image. We evaluate our approach on the ShapeNet dataset and show that - (a) the Free-Form Deformation layer is a powerful new building block for Deep Learning models that manipulate 3D data (b) DeformNet uses this FFD layer combined with shape retrieval for smooth and detail-preserving 3D reconstruction of qualitatively plausible point clouds with respect to a single query image (c) compared to other state-of-the-art 3D reconstruction methods, DeformNet quantitatively matches or outperforms their benchmarks by significant margins. For more information, visit: https://deformnet-site.github.io/DeformNet-website/ .Comment: 11 pages, 9 figures, NIP

Long-term experiments with an adaptive spherical view representation for navigation in changing environments

Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date. In this work, we introduce a method to update the reference views in a hybrid metric-topological map so that a mobile robot can continue to localize itself in a changing environment. The updating mechanism, based on the multi-store model of human memory, incorporates a spherical metric representation of the observed visual features for each node in the map, which enables the robot to estimate its heading and navigate using multi-view geometry, as well as representing the local 3D geometry of the environment. A series of experiments demonstrate the persistence performance of the proposed system in real changing environments, including analysis of the long-term stability

The study of probability model for compound similarity searching

Information Retrieval or IR system main task is to retrieve relevant documents according to the users query. One of IR most popular retrieval model is the Vector Space Model. This model assumes relevance based on similarity, which is defined as the distance between query and document in the concept space. All currently existing chemical compound database systems have adapt the vector space model to calculate the similarity of a database entry to a query compound. However, it assumes that fragments represented by the bits are independent of one another, which is not necessarily true. Hence, the possibility of applying another IR model is explored, which is the Probabilistic Model, for chemical compound searching. This model estimates the probabilities of a chemical structure to have the same bioactivity as a target compound. It is envisioned that by ranking chemical structures in decreasing order of their probability of relevance to the query structure, the effectiveness of a molecular similarity searching system can be increased. Both fragment dependencies and independencies assumption are taken into consideration in achieving improvement towards compound similarity searching system. After conducting a series of simulated similarity searching, it is concluded that PM approaches really did perform better than the existing similarity searching. It gave better result in all evaluation criteria to confirm this statement. In terms of which probability model performs better, the BD model shown improvement over the BIR model